#include <iostream>
 
#include "tensorflow/cc/ops/const_op.h"
#include "tensorflow/cc/ops/image_ops.h"
#include "tensorflow/cc/ops/standard_ops.h"
#include "tensorflow/core/framework/graph.pb.h"
#include "tensorflow/core/framework/tensor.h"
#include "tensorflow/core/graph/default_device.h"
#include "tensorflow/core/graph/graph_def_builder.h"
#include "tensorflow/core/lib/core/errors.h"
#include "tensorflow/core/lib/core/stringpiece.h"
#include "tensorflow/core/lib/core/threadpool.h"
#include "tensorflow/core/lib/io/path.h"
#include "tensorflow/core/lib/strings/stringprintf.h"
#include "tensorflow/core/platform/env.h"
#include "tensorflow/core/platform/init_main.h"
#include "tensorflow/core/platform/logging.h"
#include "tensorflow/core/platform/types.h"
#include "tensorflow/core/public/session.h"
#include "tensorflow/core/util/command_line_flags.h"
 
#include <opencv2/opencv.hpp>
// #include <cv.h>
// #include <highgui.h>
#include <Eigen/Core>
#include <Eigen/Dense>
 
using namespace std;
using namespace cv;
using namespace tensorflow;
 
 
 
// 定义一个函数讲OpenCV的Mat数据转化为tensor，python里面只要对cv2.read读进来的矩阵进行np.reshape之后，
// 数据类型就成了一个tensor，即tensor与矩阵一样，然后就可以输入到网络的入口了，但是C++版本，我们网络开放的入口
// 也需要将输入图片转化成一个tensor，所以如果用OpenCV读取图片的话，就是一个Mat，然后就要考虑怎么将Mat转化为
// Tensor了
void CVMat_to_Tensor(Mat img,Tensor* output_tensor,int input_rows,int input_cols)
{
    //imshow("input image",img);
    //图像进行resize处理
    resize(img,img,cv::Size(input_cols,input_rows));
    //imshow("resized image",img);
 
    //归一化
    img.convertTo(img,CV_8UC3);  // CV_32FC3
    //img=1-img/255;
 
    //创建一个指向tensor的内容的指针
    uint8 *p = output_tensor->flat<uint8>().data();
 
    //创建一个Mat，与tensor的指针绑定,改变这个Mat的值，就相当于改变tensor的值
    cv::Mat tempMat(input_rows, input_cols, CV_8UC3, p);
    img.convertTo(tempMat,CV_8UC3);
 
 //    waitKey(0);
 
}
 
int main()
{
    /*--------------------------------配置关键信息------------------------------*/
    string model_path="/home/de/pbmodel/0704-10000/frozen_inference_graph.pb";
    string image_path="/home/de/testCode/outImage/250.jpg";
    int input_height = 280;
    int input_width = 480;
    string input_tensor_name="image_tensor";
    vector<string> out_put_nodes;  //注意，在object detection中输出的三个节点名称为以下三个
    out_put_nodes.push_back("detection_scores");  //detection_scores  detection_classes  detection_boxes
    out_put_nodes.push_back("detection_classes");
    out_put_nodes.push_back("detection_boxes");
 
    /*--------------------------------创建session------------------------------*/
    Session* session;
    Status status = NewSession(SessionOptions(), &session);//创建新会话Session
 
    /*--------------------------------从pb文件中读取模型--------------------------------*/
    GraphDef graphdef; //Graph Definition for current model
 
    Status status_load = ReadBinaryProto(Env::Default(), model_path, &graphdef); //从pb文件中读取图模型;
    if (!status_load.ok()) {
        cout << "ERROR: Loading model failed..." << model_path << std::endl;
        cout << status_load.ToString() << "\n";
        return -1;
    }
    Status status_create = session->Create(graphdef); //将模型导入会话Session中;
    if (!status_create.ok()) {
        cout << "ERROR: Creating graph in session failed..." << status_create.ToString() << std::endl;
        return -1;
    }
    cout << "<----Successfully created session and load graph.------->"<< endl;
 
    /*---------------------------------载入测试图片-------------------------------------*/
    cout<<endl<<"<------------loading tes.t_image-------------->"<<endl;
    Mat img;
    img = imread(image_path);
    cvtColor(img, img, CV_BGR2RGB);
    if(img.empty())
    {
        cout<<"can't open the image!!!!!!!"<<endl;
        return -1;
    }
 
    //创建一个tensor作为输入网络的接口
    Tensor resized_tensor(DT_UINT8, TensorShape({1,input_height,input_width,3})); //DT_FLOAT
 
    //将Opencv的Mat格式的图片存入tensor
    CVMat_to_Tensor(img,&resized_tensor,input_height,input_width);
 
    cout << resized_tensor.DebugString()<<endl;
 
    /*-----------------------------------用网络进行测试-----------------------------------------*/
    cout<<endl<<"<-------------Running the model with test_image--------------->"<<endl;
    //前向运行，输出结果一定是一个tensor的vector
    vector<tensorflow::Tensor> outputs;
 
    Status status_run = session->Run({{input_tensor_name, resized_tensor}}, {out_put_nodes}, {}, &outputs);
 
    if (!status_run.ok()) {
        cout << "ERROR: RUN failed..."  << std::endl;
        cout << status_run.ToString() << "\n";
        return -1;
    }
 
    //把输出值给提取出
    cout << "Output tensor size:" << outputs.size() << std::endl;  //3
    for (int i = 0; i < outputs.size(); i++)
    {
        cout << outputs[i].DebugString()<<endl;   // [1, 50], [1, 50], [1, 50, 4]
    }
 
    cvtColor(img, img, CV_RGB2BGR);  // opencv读入的是BGR格式输入网络前转为RGB
    resize(img,img,cv::Size(480,280));  // 模型输入图像大小
    int pre_num = outputs[0].dim_size(1);  // 50  模型预测的目标数量
    auto tmap_pro = outputs[0].tensor<float, 2>();  //第一个是score输出shape为[1,50]
    auto tmap_clas = outputs[1].tensor<float, 2>();  //第二个是class输出shape为[1,50]
    auto tmap_coor = outputs[2].tensor<float, 3>();  //第三个是coordinate输出shape为[1,50,4]
    float probability = 0.6;  //自己设定的score阈值
    for (int pre_i = 0; pre_i < pre_num; pre_i++)
    {
        if (tmap_pro(0, pre_i) < probability)
        {
            break;
        }
        cout << "Class ID: " << tmap_clas(0, pre_i) << endl;
        cout << "Probability: " << tmap_pro(0, pre_i) << endl;
        string id = to_string(int(tmap_clas(0, pre_i)));
        int xmin = int(tmap_coor(0, pre_i, 1) * input_width);
        int ymin = int(tmap_coor(0, pre_i, 0) * input_height);
        int xmax = int(tmap_coor(0, pre_i, 3) * input_width);
        int ymax = int(tmap_coor(0, pre_i, 2) * input_height);
        cout << "Xmin is: " << xmin << endl;
        cout << "Ymin is: " << ymin << endl;
        cout << "Xmax is: " << xmax << endl;
        cout << "Ymax is: " << ymax << endl;
        rectangle(img, cvPoint(xmin, ymin), cvPoint(xmax, ymax), Scalar(255, 0, 0), 1, 1, 0);
        putText(img, id, cvPoint(xmin, ymin), FONT_HERSHEY_COMPLEX, 1.0, Scalar(255,0,0), 1);
    }
    imshow("1", img);
    cvWaitKey(0);
 
    return 0;
}